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基于擴(kuò)展卡爾曼濾波的車(chē)輛質(zhì)量與道路坡度估計(jì)
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國(guó)家高技術(shù)研究發(fā)展計(jì)劃(863計(jì)劃)資助項(xiàng)目(2012AA111712),、高等學(xué)校博士學(xué)科點(diǎn)專(zhuān)項(xiàng)科研基金資助項(xiàng)目(20120061110027),、吉林大學(xué)“985”工程資助項(xiàng)目和長(zhǎng)江學(xué)者和創(chuàng)新團(tuán)隊(duì)發(fā)展計(jì)劃資助項(xiàng)目(IRT1017)


ehicle Mass and Road Grade Estimation Based on Extended Kalman Filter
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    摘要:

    針對(duì)車(chē)輛自動(dòng)變速器控制系統(tǒng)難以實(shí)時(shí)測(cè)得車(chē)輛質(zhì)量與道路坡度參數(shù)這一問(wèn)題,，運(yùn)用最優(yōu)估計(jì)理論,，以車(chē)輛縱向動(dòng)力學(xué)模型為基礎(chǔ)，建立系統(tǒng)的狀態(tài)空間模型，運(yùn)用前向歐拉法將過(guò)程方程離散化，進(jìn)一步對(duì)非線性過(guò)程方程進(jìn)行近似線性化，獲得過(guò)程方程向量函數(shù)的Jacobian矩陣,，實(shí)現(xiàn)了基于擴(kuò)展卡爾曼濾波(EKF)的車(chē)輛質(zhì)量及道路坡度估計(jì)算法。在Matlab/Simulink仿真平臺(tái)下,，進(jìn)行了實(shí)車(chē)道路試驗(yàn)數(shù)據(jù)的離線仿真,。仿真結(jié)果表明，該算法可有效估計(jì)車(chē)輛質(zhì)量及道路坡度,，能夠滿(mǎn)足車(chē)輛自動(dòng)變速器控制系統(tǒng)的要求,。

    Abstract:

    To solve the problem that vehicle mass and road grade in automatic transmission control system are difficult to measure, the state-space model of system was established based on the vehicle longitudinal dynamic model, using the optimal estimation theory. The forward Euler method was adopted for discretization of the process equation. The Jacobian of the process equation was calculated for linearization of the non-linear process function. Then, the vehicle mass and road grade estimation algorithm using extended kalman filter was developed. The simulation using road test data was carried out in Matlab/Simulink environment. The simulation results show that this algorithm could estimate vehicle mass and road grade effectively and meet the requirements of the automatic transmission control system.

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雷雨龍,付 堯,劉 科,曾華兵,張?jiān)獋b.基于擴(kuò)展卡爾曼濾波的車(chē)輛質(zhì)量與道路坡度估計(jì)[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2014,45(11):9-14. Lei Yulong, Fu Yao, Liu Ke, Zeng Huabing, Zhang Yuanxia. ehicle Mass and Road Grade Estimation Based on Extended Kalman Filter[J]. Transactions of the Chinese Society for Agricultural Machinery,2014,45(11):9-14.

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  • 收稿日期:2013-12-26
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  • 在線發(fā)布日期: 2014-11-10
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